CN111673357A

CN111673357A - Automatic welding jig of robot

Info

Publication number: CN111673357A
Application number: CN202010611316.XA
Authority: CN
Inventors: 毛富英; 康青; 黄群力; 申检宏; 罗军伟; 申燕飞; 王开恩; 吕亮; 冯丽娥; 邵向兰; 曾得峰; 张凤玲
Original assignee: Meishan CRRC Brake Science and Technology Co Ltd
Current assignee: Meishan CRRC Brake Science and Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-09-18

Abstract

The invention discloses a robot automatic welding fixture, which is used for welding a main workpiece with a hole and an auxiliary workpiece. The pull rod can slide relative to the expansion sleeve along the axial direction, and the pull rod is matched with the step of the expansion sleeve, so that the upward travel of the pull rod in the expansion sleeve is limited. One end of the pull rod is provided with a variable diameter part, the expansion sleeve comprises a positioning part and an expansion part arranged at one end of the expansion sleeve, and the variable diameter part of the pull rod can expand the expansion part of the expansion sleeve. The positioning part of the expansion sleeve can penetrate through the main workpiece to position the main workpiece, and the expansion part of the expansion sleeve can penetrate through the auxiliary workpiece and is kept relatively fixed with the auxiliary workpiece after being expanded. The welding fixture can be matched with a material loading and unloading robot for use, so that workpieces can be quickly positioned and clamped, and manual spot welding is completely or partially cancelled.

Description

Automatic welding jig of robot

Technical Field

The invention relates to the technical field of welding, in particular to an automatic welding fixture of a robot.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

A welder is a technical worker, and petroleum pipelines, vehicle components and the like are connected by adopting a metal welding method at present. The technical level of the welder directly affects the pipeline construction speed. The technical training of welders includes welding of pipes with different pipe diameters, welding of pipes and plates, and welding of plates, and the welding methods include manual arc welding, semi-automatic welding, gas shielded welding, and the like. For example, in the welding between the pipe and the plate, that is, in the opening of the pipe welded on the plate, the pipe can be manually positioned outside the opening for spot welding, and then the welding robot is used for automatic welding. However, the inventor realizes that the method of manual spot welding and robot welding still has the problems of low automation degree, low welding efficiency and the like.

Disclosure of Invention

Aiming at the problems, the invention provides the robot automatic welding fixture, which can carry out robot automatic welding without spot welding and fixing the workpieces with holes by arranging the expansion sleeve with the positioning part and the expansion part, and has the advantages of quick and accurate positioning and convenient clamping.

The invention discloses a robot automatic welding fixture, which is used for welding a main workpiece with a hole and an auxiliary workpiece, and is characterized in that:

the device comprises a fixed seat and a bracket arranged on the fixed seat, wherein an expansion sleeve is arranged on the bracket, and a pull rod is arranged in the expansion sleeve in an embedded manner;

the pull rod can slide relative to the expansion sleeve along the axial direction, and the pull rod is matched with the step of the expansion sleeve, so that the upward travel of the pull rod in the expansion sleeve is limited;

one end of the pull rod is provided with a variable diameter part, the expansion sleeve comprises a positioning part and an expansion part arranged at one end of the expansion sleeve, and the variable diameter part of the pull rod can expand the expansion part of the expansion sleeve;

the positioning part of the expansion sleeve can penetrate through the main workpiece to position the main workpiece, and the expansion part of the expansion sleeve can penetrate through the auxiliary workpiece and is kept relatively fixed with the auxiliary workpiece after being expanded.

Furthermore, a positioning block is arranged at a certain position on the bracket, so that the expansion sleeve can be finally blocked and the downward stroke of the expansion sleeve can be limited; and the outer wall of the expansion sleeve is provided with a bulge which can finally abut against the other part on the bracket and is used for limiting the upward stroke of the expansion sleeve.

Further, the expansion sleeve is provided with a step hole, and the pull rod is provided with a shaft shoulder matched with the step hole and used for pushing the expansion sleeve.

Furthermore, the other end of the pull rod is connected with a power mechanism, and the power mechanism is a positioning cylinder assembled on the support.

Further, still including being used for the bearing the chassis of fixing base, the chassis is equipped with and is used for the jacking frame and the jacking cylinder of jacking main work piece, still be equipped with on the chassis and be used for right the jacking frame downstroke carries out spacing stopper.

Furthermore, the expanding part of the expanding sleeve is made of elastic materials, or a plurality of open grooves are formed in the expanding part of the expanding sleeve along the circumferential direction.

Further, the robot is equipped with a positioning sensor for detecting the positional relationship of the main workpiece and the sub-workpiece.

Furthermore, the pull rod, the expansion sleeve and the positioning cylinder are provided with two sets.

Further, the support comprises a support pillar vertically arranged on the fixing seat and a support seat arranged at the top end of the support pillar.

Further, a cylinder mounting plate is arranged on the support.

By comprehensively adopting the technical scheme, the invention can obtain the following beneficial effects:

1. the welding fixture can be matched with a material loading and unloading robot for use, so that the workpiece can be quickly positioned and clamped, manual spot welding is completely or partially cancelled, and one-time welding is completed by the welding robot;

2. the welding clamp is matched with the actions of the unloading robot and the welding robot, so that the production efficiency can be effectively improved, the labor intensity of workers is reduced, and the automatic production of workpieces is realized.

Drawings

The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of a portion of a welding fixture in an initial state according to some embodiments;

FIG. 2 is a schematic view of a portion of a welding fixture in a loaded condition of a primary workpiece according to some embodiments;

FIG. 3 is a schematic view of a portion of a welding fixture in some embodiments with the primary and secondary workpieces loaded;

FIG. 4 is a schematic view of a portion of a welding fixture in a positioned state in some embodiments;

FIG. 5 is a schematic view of a portion of a welding fixture in a clamped state in some embodiments;

FIG. 6 is a schematic diagram of a portion of a welding fixture in some embodiments with a primary workpiece, a foraminous secondary workpiece, and an imperforate secondary workpiece loaded;

FIG. 7 is a schematic view of the assembly of the expansion sleeve and the tie rod in some embodiments;

FIG. 8 is a schematic diagram of the structure of the expansion sleeve in some embodiments;

FIG. 9 is a schematic illustration of the construction of a tie rod in some embodiments;

FIG. 10 is a schematic diagram of a cylinder connecting rod in some embodiments;

FIG. 11 is a schematic diagram of the overall construction of a welding fixture in some embodiments;

FIG. 12 is a schematic view of the placement of the weld fixture assembly within the weld house in accordance with certain embodiments.

Description of reference numerals:

1-a fixed seat, 21-a support column, 22-a supporting seat, 3-a positioning cylinder, 31-a cylinder connecting rod, 32-a cylinder mounting plate, 33-a positioning block, 4-an expansion sleeve, 41-a bulge, 5-a pull rod, 6-a main workpiece, 7-an auxiliary workpiece, 8-an underframe, 81-a limiting block, 9-a jacking cylinder, 91-a jacking frame and 10-an imperforate auxiliary workpiece; 100-welding fixture assembly, 101-welding robot, 102-loading and unloading robot, 103-rolling door, 104-welding house.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the drawings of the present invention, it should be understood that different technical features which are not mutually substituted are shown in the same drawing only for the convenience of simplifying the drawing description and reducing the number of drawings, and the embodiment described with reference to the drawings does not indicate or imply that all the technical features in the drawings are included, and thus the present invention is not to be construed as being limited thereto.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-12, the invention discloses a robot automatic welding fixture, which is used for welding a main workpiece 6 with a hole and an auxiliary workpiece 7. Welding jig assembly 100 includes fixing base 1 and support, and the support mounting is on fixing base 1. The support is provided with an expansion sleeve 4 and a pull rod 5, the pull rod 5 is nested in the expansion sleeve 4, and the pull rod 5 can slide relative to the expansion sleeve 4 along the axial direction. One end of the pull rod 5 is provided with a variable diameter part, one end of the expansion sleeve 4 is provided with an expansion part, and the variable diameter part of the pull rod 5 is matched with the expansion part of the expansion sleeve 4.

In some embodiments, the expansion sleeve 4 also has a positioning portion for positioning at least the primary workpiece 6. The positioning part of the expansion sleeve 4 can penetrate through the hole on the main workpiece 6 and is attached to the hole wall of the hole, so that the main workpiece 6 is positioned. The positioning part and the expanding part of the expanding sleeve 4 can have different diameters, the outer wall surfaces of the two parts can be in transition connection, or a step surface is arranged between the outer wall surfaces of the two parts. The expanding part of the expanding sleeve 4 is at least used for fixing the secondary workpiece 7. The auxiliary workpiece 7 is sleeved on the expanding part of the expanding sleeve 4, when the reducing part of the pull rod 5 extends into the expanding part of the expanding sleeve 4, the expanding part of the expanding sleeve 4 is expanded, so that the inner wall of the expanding part clamps the pull rod 5, the outer wall of the expanding part is attached to the hole wall of the hole in the auxiliary workpiece 7, and the auxiliary workpiece 7 and the expanding sleeve 4 are fixed relatively.

In some embodiments, a positioning block 33 is provided at a certain position on the bracket, which can finally block the expansion sleeve 4 for limiting the downward stroke of the expansion sleeve 4. After the downward stroke of the expansion sleeve 4 is limited, the pull rod 5 is continuously pulled down, so that the variable-diameter part of the pull rod 5 can extend into the expansion part of the expansion sleeve 4, the expansion part is clamped by the auxiliary workpiece 7 after being expanded, and finally the positioning between the auxiliary workpiece 7 and the main workpiece 6 is realized. This process need not to use spot welding, and degree of automation is high, can effectively use manpower sparingly the cost.

In some embodiments, the robot is equipped with a positioning sensor for detecting the positional relationship of the main workpiece 6 and the sub-workpiece 7 to more accurately achieve positioning between the main workpiece 6 and the sub-workpiece 7. The robot includes a welding robot 101 and a handler robot 102.

In some embodiments, the pull rod 5 is step-fitted with the expansion sleeve 4, so that the upward travel of the pull rod 5 in the expansion sleeve 4 is limited. For example, the expanding sleeve 4 has a stepped hole, and the pull rod 5 has a shoulder or other auxiliary member, such as a connecting rod, matching with the stepped hole for pushing the expanding sleeve 4. When the workpiece is unloaded after the welding is finished, the lifting pull rod 5 can drive the expansion sleeve 4 to move upwards due to the step matching relationship between the pull rod 5 and the expansion sleeve 4, so that the pull rod 5 and the expansion sleeve 4 are separated from the auxiliary workpiece 7.

In some embodiments, the outer wall of the expansion sleeve 4 is further provided with a protrusion 41 which can finally abut against another part on the bracket for limiting the upward travel of the expansion sleeve 4. After the upward stroke of the expansion sleeve 4 is limited, the pull rod 5 is continuously pushed, so that the diameter-variable part of the pull rod 5 can be separated from the expansion part of the expansion sleeve 4.

The expanding portion of the expanding sleeve 4 has expanding and contracting performance requirements, and in some embodiments, the expanding portion of the expanding sleeve 4 is made of an elastic material. The welding fixture usually has a certain requirement on high temperature resistance, and the high temperature resistance of the conventional elastic materials such as rubber is poor, so in other embodiments, a plurality of open slots are formed in the expanding part of the expanding sleeve 4 along the circumferential direction, so that the expanding part is divided into a plurality of petals, and the expanding part is conveniently and smoothly expanded after the reducing part of the pull rod 5 extends into the expanding part of the expanding sleeve 4. In these embodiments where the expanding portion is divided into several lobes, the expanding portion of the expanding sleeve 4 may also be made of metal, such as 60Si2 Mn.

In some embodiments, the other end of the pull rod 5 is connected to a power mechanism, which may be an external power mechanism or a power mechanism mounted on the bracket. In at least one embodiment, the power mechanism is a positioning cylinder 3 mounted on a support. The shape and structure of the support may not be particularly limited so as to be able to achieve the basic requirement of supporting the main workpiece 6. In some embodiments, the bracket includes a pillar 21 and a support seat 22, the pillar 21 is erected on the fixing base 1, and the support seat 22 is disposed at the top end of the pillar 21. The positioning cylinder 3 can be mounted on the support by means of corresponding auxiliary devices, and in some embodiments, a cylinder mounting plate 32 for mounting the cylinder is provided on the support column 21.

The number of the pull rods 5, the expansion sleeves 4 and the positioning cylinders 3 can be set according to actual requirements, and in some embodiments, two sets of the pull rods 5, the expansion sleeves 4 and the positioning cylinders 3 are provided.

In some embodiments, the robotic automated welding jig further comprises a base frame 8 for supporting the fixed base, the base frame 8 being equipped with a jacking frame 91 and a jacking cylinder 9 for jacking the main workpiece 6. The jacking frame 91 is used for jacking up the welded workpiece, so that the workpiece is completely separated from the expansion sleeve 4, and the loading and unloading robot 102 can conveniently take down the workpiece. And the bottom frame 8 is also provided with a limiting block 81 for limiting the descending stroke of the jacking frame 91.

At least one exemplary embodiment is now provided in connection with the drawings, a detailed description of which is provided in the drawings not intended to limit the scope of the claimed invention, but is merely representative of exemplary embodiments provided in the invention.

Exemplary embodiment 1

Referring to fig. 1-2, an automatic welding jig of robot, includes fixing base 1 and establishes the support on fixing base 1, is equipped with the cover 4 that rises on the support, the cover 4 that rises is equipped with pull rod 5 in the nestification ground. The support comprises a support post 21 and a support seat 22, the support post 21 is vertically arranged on the fixed seat 1, and the support seat 22 is arranged at the top end of the support post 21. The lower end of the pull rod 5 is connected with the positioning cylinder 3 through a cylinder connecting rod 31, and the positioning cylinder 3 is installed on the pillar 21 through a cylinder installation plate 32. The cylinder connecting rod 31 can be regarded as a part of the pull rod 5, and the pull rod 5 is in step fit with the expansion sleeve 4. The cylinder mounting plate 32 may also be considered part of the bracket.

The top end of the pull rod 5 is provided with a diameter-variable part, and the diameter of the diameter-variable part is gradually increased from bottom to top. The expansion sleeve 4 comprises a positioning part at the lower end and an expansion part at the upper end, and the inner wall at the port of the expansion part has a certain taper which is equal to or close to the taper of the diameter-variable part. The expanding part of the expanding sleeve 4 is provided with six open slots along the circumferential direction, so that the expanding part is divided into six petals. The material of the expansion sleeve 4 is 60Si2 Mn.

The pull rod 5 and the expansion sleeve 4 are matched by steps, the expansion sleeve is provided with a step hole, the cylinder connecting rod 31 on the pull rod 5 is matched with the step hole, and the expansion sleeve 4 can be driven to move upwards when the pull rod 5 is pushed. The cylinder mounting plate 32 on the pillar 21 is provided with a positioning block 33, and after the expansion sleeve 4 descends for a certain distance, the lower end of the expansion sleeve 4 abuts against the positioning block 33, so that the descending stroke of the expansion sleeve 4 is limited. The outer wall of the expansion sleeve 4 is provided with a bulge 41, after the expansion sleeve 4 moves upwards for a certain distance, the bulge 41 props against the supporting seat 22, so that the upward travel of the expansion sleeve 4 is limited.

As shown in fig. 11, the robot automated welding jig further includes a bottom frame 8 for supporting the fixing base 1, and the bottom frame 8 is fixed to the ground for supporting the whole welding jig assembly 100. Chassis 8 is equipped with jacking frame 91 and jacking cylinder 9 that are used for jacking main workpiece 6, still is equipped with on chassis 7 to be used for carrying on spacing stopper 81 to jacking frame 91 downstroke, and jacking frame 91 provides the support by chassis 8. The jacking cylinder 9 and the positioning cylinder 3 are cylinders with magnetic switches, so that the automation of workpiece processing is convenient to realize.

The robotic automated welding jig in this exemplary embodiment is used for welding of a main workpiece 6 and a subsidiary workpiece 7, both the main workpiece 6 and the subsidiary workpiece 7 having holes, as shown in fig. 4. The auxiliary workpieces 7 comprise two sets, and correspondingly, the pull rod 5, the expansion sleeve 4, the positioning cylinder 3 and the material loading and unloading robot 102 are also provided with two sets. The welding fixture assembly 100 is matched with the welding robot 101 and the material handling robot 102, the welding fixture assembly 100 is used for positioning and clamping workpieces in place, the welding robot 101 is used for welding, and the material handling robot 102 is used for taking away the workpieces after welding is completed. The logical relationship among the operations of the welding jig assembly 100, the welding robot 101, and the loader/unloader robot 102 is controlled by the controller, and the positioning sensor is used to position and clamp the workpiece in place, and the layout position relationship in the welding room 104 is shown in fig. 12.

The specific welding process flow and steps are as follows:

a. the jacking cylinder 9 retracts to drive the jacking frame 91 to descend until the jacking frame contacts the limiting block 81, the positioning cylinder 3 extends upwards, and the welding clamp is in an initial state;

b. the loading and unloading robot 102 grabs the main workpiece and places the main workpiece 6 on the welding fixture, and the positioning part of the expansion sleeve 4 penetrates through the main workpiece 6;

c. the loading and unloading robot 102 grabs the auxiliary workpiece 7 and places the auxiliary workpiece 7 on the welding fixture, and the expanding part of the expanding sleeve 4 penetrates through the auxiliary workpiece 7;

d. the positioning cylinder 3 retracts, the pull rod 5 drives the expansion sleeve 4 to move downwards until the lower end of the expansion sleeve 4 abuts against the positioning block 33, and the main workpiece 6 is positioned;

e. the positioning cylinder 3 continues to retract, the pull rod 5 drives the expansion sleeve 4 to move downwards until the diameter-changing part of the pull rod 5 props up the expansion part of the expansion sleeve 4, so that the auxiliary workpiece 7 clamps the expansion sleeve 4;

f. the rolling door 103 of the welding room 104 descends, and the welding robot 101 welds the connecting weld between the main workpiece 6 and the auxiliary workpiece 7;

g. after welding, the rolling door 103 of the welding room 104 is lifted, and the positioning cylinder 3 extends out, so that the expansion sleeve 4 is separated from the auxiliary workpiece 7;

h. the positioning cylinder 3 continues to extend out, and after the bulge 41 on the expansion sleeve 4 props against the supporting seat 22, the positioning cylinder 3 continues to extend out for a certain distance, so that the variable-diameter part of the pull rod 5 is separated from the expansion part of the expansion sleeve 4;

i. the jacking cylinder 9 extends out to drive the jacking frame 91 to ascend until the main workpiece 6 is completely separated from the expansion sleeve 4, and then the loading and unloading robot 102 grabs the main workpiece 6 and moves out of the station of the welding clamp assembly 100.

The action of the robot automatic welding clamp before welding is as follows:

(1) initial state

As shown in fig. 2, the positioning cylinder 3 is in an upwardly projecting state;

(2) loading state of workpiece

The main workpiece 6 is placed on the supporting seat 22 by the material loading and unloading robot 102, the expansion sleeve 4 penetrates through the main workpiece 6, and the main workpiece 6 is preliminarily positioned through the excircle of the positioning part of the expansion sleeve 4; another loading and unloading robot 102 sleeves the auxiliary workpiece 7 on the expanding part of the expanding sleeve 4 and is clamped by the step surface between the expanding part and the positioning part, so as to preliminarily position the auxiliary workpiece 7;

(3) positioning state

As shown in fig. 4, the positioning cylinder 3 retracts until the lower end of the expansion sleeve 4 abuts against the positioning block 33, and the secondary workpiece 7 falls on the primary workpiece 6;

(4) clamped state

As shown in fig. 5, the positioning cylinder 3 continues to retract until the diameter-variable portion of the pull rod 5 extends into the expanding portion of the expanding sleeve 4, and the expanding portion is expanded to clamp the secondary workpiece 7.

Exemplary embodiment 2

The present exemplary embodiment differs from exemplary embodiment 1 in that:

as shown in fig. 6, a non-porous sub-workpiece 10 is also included. The welding fixture assembly 100 is used for positioning and clamping the holed auxiliary workpiece 7, the loading and unloading robot 102 is used for grabbing the holeless auxiliary workpiece 10, then the hole-free auxiliary workpiece is placed at a fixed position of the main workpiece and is pressed tightly, then the welding robot 101 is used for positioning spot welding, after the spot welding is completed, the loading and unloading robot 102 leaves a welding room, and then the welding robot 101 is used for welding.

The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.

Claims

1. The utility model provides an automatic welding jig of robot for foraminiferous main work piece and the welding of vice work piece, its characterized in that:

2. The robotic automated welding jig of claim 1, wherein: a positioning block is arranged at a certain position on the bracket, so that the expansion sleeve can be finally blocked and the downward stroke of the expansion sleeve can be limited; and the outer wall of the expansion sleeve is provided with a bulge which can finally abut against the other part on the bracket and is used for limiting the upward stroke of the expansion sleeve.

3. The robotic automated welding jig of claim 1 or 2, wherein: the expansion sleeve is provided with a step hole, and the pull rod is provided with a shaft shoulder which is matched with the step hole and used for pushing the expansion sleeve.

4. The robotic automated welding jig of claim 1 or 2, wherein: the other end of the pull rod is connected with a power mechanism, and the power mechanism is a positioning cylinder assembled on the support.

5. The robotic automated welding jig of claim 1 or 2, wherein: the lifting device is characterized by further comprising a bottom frame used for supporting the fixing base, wherein the bottom frame is provided with a lifting frame and a lifting cylinder used for lifting the main workpiece, and a limiting block used for limiting the descending stroke of the lifting frame is further arranged on the bottom frame.

6. The robotic automated welding jig of claim 1 or 2, wherein: the expanding part of the expanding sleeve is made of elastic materials, or a plurality of open grooves are formed in the expanding part of the expanding sleeve along the circumferential direction.

7. The robotic automated welding jig of claim 1 or 2, wherein: the robot is equipped with a positioning sensor for detecting the positional relationship between the main workpiece and the sub-workpiece.

8. The robotic automated welding jig of claim 1 or 2, wherein: the pull rod, the expansion sleeve and the positioning cylinder are provided with two sets.

9. The robotic automated welding jig of claim 1 or 2, wherein: the support is including setting up in the pillar on the fixing base and installing the supporting seat on pillar top.

10. The robotic automated welding jig of claim 9, wherein: and the support post is provided with a cylinder mounting plate.